智能控制在现代包装工业中的发展和应用

叙述了反馈控制、自适应、鲁棒自适应，直到智能控制在包装工业中的进展，并阐述了智能控制在现代包装工业的发展中的应用前景。     

A Type-Safe Embedding of XDuce into ML

We consider the problem of integrating XDuce into ML. This is difficult because of incompatible type and value representations. Our solution is a type-driven translation scheme from XDuce to ML based on a structured representation of XDuce values. XDuce type inference guides the insertion of appropriate coercion functions to translate regular expression pattern matching and uses of semantic subtyping. We can extend our translation scheme to include ML function calls and patterns into XDuce. Thus, we can embed XDuce into ML. Our results allow to enrich the ML language with support for dealing with semi-structured data.     

机械结构与系统精度通用计算法及其应用——机器人机构误差分析与计算

本文详细论述了机械结构与系统精度的通用计算法,并以 PUMA 型机器人机构和圆柱型空间缩放机构为例,进行了误差分析,建立了相应的误差数模,证明了用精度通用计算法分析机器人机构误差是简单而适用的。     

“勇士号”遥控移动式作业机器人

介绍了８６３智能机器人型号之一－以核工业为应用背景的“勇士号”遥控移动式机器人的作业内容及其主要功能指标，分析了该型号的总体设计思想，同时概括总结了其操作性能，移动性能及计算机系统等方面的技术特点。     

Echolocation — From range to outline segments

A ring of ultrasonic sensors mounted on a mobile robot is used to map a room. The sensors are modelled with an arc model: the object causing the reflection lies on an arc with radius equal to the range and arc angle equal to twice the beam angle. By fusing sensing with motion, a surface is displayed as a sequence of arcs. In this paper, the algorithm for obtaining outline segments from the arcs is presented.     

Distributed Context Retrieval and Consistency Control in Pervasive Computing

The challenge of saturating all phases of pervasive service provision with context-aware functionality lies in coping with the complexity of maintaining, retrieving and distributing context information. To efficiently represent and query context information a sophisticated modelling scheme should exist. To distribute and synchronise context knowledge in various context repositories across a multitude of administrative domains, streamlined mechanisms are needed. This paper elaborates on an innovative context management framework that has been designed to cope with free-text and location based context retrieval and efficient context consistency control. The proposed framework has been incorporated in a multi-functional pervasive services platform, while most of the mechanisms it employs have been empirically evaluated.     

Handling of fine-particles by time-averaged particle driving method in plasmas

We developed a noble technique for the fine-particle handling in plasmas. In this method a pair of point electrodes are introduced in the plasma, to which positive pulses are applied alternatively. When the pulse repetition period is shorter than the particle response time, the particles feel only time-averaged force because of their large mass. Spatial profile of the equivalent potential of the time-averaged force varies from a circle to an ellipse with an increase in the local discharge at the electrodes. The particles are eventually transported toward a middle point between two point-electrodes, being almost independent of their initial positions. This method is quite effective for converging fine particles in the plasma.     

一种识别薄板对接接头的视觉方法

对薄板紧密对接接头的识别问题进行了深入的分析，提出了由照明、自适应局部特征提取、全局特征识别和验证融合在一起的视觉识别方法。它克服了电弧光的干扰，识别结果可靠，可以有效地解决薄板紧密对接接头识别这一难题。     

Fast parallel Preconditioned Conjugate Gradient algorithms for robot manipulator dynamics simulation

In this paper fast parallel Preconditioned Conjugate Gradient (PCG) algorithms for robot manipulator forward dynamics, or dynamic simulation, problem are presented. By exploiting the inherent structure of the forward dynamics problem, suitable preconditioners are devised to accelerate the iterations. Also, based on the choice of preconditioners, a modified dynamic formulation is used to speedup both serial and parallel computation of each iteration. The implementation of the parallel algorithms on two interconnected processor arrays is discussed and their computation and communication complexities are analyzed. The simulation results for a Puma Arm are presented to illustrate the effectiveness of the proposed preconditioners. With a faster convergence due to preconditioning and a faster computation of iterations due to parallelization, the developed parallel PCG algorithms represent the fastest alternative for parallel computation of the problem withO(n) processors.